System and method for precise multi-dimensional movement of haptic stimulator

Abstract

A robotic haptic stimulator comprises a robotic mount which is configured to move a haptic stimulation device. The robotic mount can preferably move the haptic stimulation device in three-dimensional space. Movement in the x, y and/or z directions may be independently controlled and may be referenced to a designated point or position that may be associated with the human body. Lidar may be used to obtain information regarding the location/distance of one or more parts of a user for use in controlling the position of the haptic stimulation device. Movement of the haptic stimulation device may emulate movement of other objects and/or be synchronized to video or sound.

What is claimed is: 
     
       1. A robotic haptic stimulator comprising:
 a controller; 
 a memory; 
 a robotic mount comprising a base, and a movable mount connected to said base, said movable mount including a head, said head movably positionable in three-dimensional space defined by an x axis, a y axis and a z axis which are orthogonal to one another; 
 at least one motor configured to move said movable mount; 
 a haptic stimulation device connected to said head of said robotic mount so as to be movable by said robotic mount in three-dimensional space; 
 one or more sets of data stored in said memory, each set of data defining x position coordinates, y position coordinates and z position coordinates for said robotic mount relative to time, relative to a reference point in said three-dimensional space, said reference point associated with a human body and located on a designated one of said axes; and 
 machine-readable code stored in said memory and configured to cause said controller to utilize one of said sets of data to generate control instructions to cause said one or more motors to move said movable mount in a motion defined by said set of data, resulting in movement of said haptic stimulation device in three-dimensional space, including movement thereof towards and away from said reference point in a direction corresponding to said designated one of said axes, wherein a maximum range of said movement of said haptic stimulation device in said direction towards said reference point is limited to the location of said reference point on said designated one of said axes, and wherein, when said direction is generally parallel to a desired direction of linear movement, the robotic mount is configured to move so that the maximum travel of the haptic stimulation device in said direction does not exceed said reference point. 
 
     
     
       2. The robotic haptic stimulator in accordance with  claim 1  wherein said robotic mount comprises a 6-axis robot. 
     
     
       3. The robotic haptic stimulator in accordance with  claim 1  wherein said haptic stimulation device comprises a sex stimulation device. 
     
     
       4. The robotic haptic stimulator in accordance with  claim 1  wherein said haptic stimulation device is detachably connected to said head of said robotic mount. 
     
     
       5. The robotic haptic stimulator in accordance with  claim 1  wherein said x position coordinates are defined by a first function, said y position coordinates are defined by a second function, and said z position coordinates are defined by a third function. 
     
     
       6. The robotic haptic stimulator in accordance with  claim 5  wherein said first function has a first time duration, said second function has a second time duration and said third function has a third time duration. 
     
     
       7. The robotic haptic stimulator in accordance with  claim 1  wherein said reference point is determined using a light detecting and ranging device. 
     
     
       8. The robotic haptic stimulator in accordance with  claim 1  wherein said set of data defines x, y and z position coordinates synchronously to audio for presentation by an audio device and/or to video for presentation by at least one video display, during movement of said haptic stimulator by said robotic mount. 
     
     
       9. A method of moving a haptic stimulator comprising the steps of:
 determining a reference point associated with a human body, said reference point positioned on an x axis of an assigned spatial coordinate system having said x axis, a y axis, and a z axis orthogonal to one another, and said reference point having x, y and z coordinates; 
 defining an x direction control function; 
 defining a y direction control function; 
 defining a z direction control function; 
 utilizing said x function to generate x values as a function of time, a highest of said x values not exceeding said x coordinate of said reference point; 
 utilizing said y function to generate y values as a function of time; 
 utilizing said z function to generate z values as a function of time; 
 utilizing a controller to generate motor control instructions corresponding to said generated x, y and z values; 
 utilizing said motor control instructions to cause one or more motors to move a robotic mount comprising a base, a movable mount connected to said base, said movable mount comprising a head, and said haptic stimulator connected to said head resulting in movement of said haptic stimulation device in three-dimensional space, including movement thereof towards and away from said reference point in a direction corresponding to said x axis, wherein a maximum range of said movement of said haptic stimulation device in an x direction corresponding to said x axis and towards said reference point is limited to the location of said reference point on said x axis, wherein, when said x direction is generally parallel to a desired direction of linear movement, the robotic mount is configured to move so that the maximum travel of the haptic stimulation device in said x direction does not exceed said reference point. 
 
     
     
       10. The method in accordance with  claim 9  further comprising the steps of determining a location of one or more portions of an object, said reference point associated with said object. 
     
     
       11. The method in accordance with  claim 10  wherein said location is determined using a light detection and ranging device. 
     
     
       12. The method in accordance with  claim 9  wherein one or more of said x, y and z functions are oscillatory. 
     
     
       13. The method in accordance with  claim 9  further comprising storing said x, y and z values in a memory associated with said controller. 
     
     
       14. The method in accordance with  claim 9  wherein said steps of defining said x function, said y function and said z function comprise receiving at least one input from a user to a mobile communication device. 
     
     
       15. A robotic haptic stimulator comprising:
 a controller; 
 a memory; 
 a robotic mount comprising a base, and a movable mount connected to said base, said movable mount including a head, said head movably positionable in three-dimensional space defined by an x axis, a y axis and a z axis which are orthogonal to one another, wherein said x axis extends generally orthogonal to a plane associated with a human body, wherein a reference point is located on said x axis at the intersection of said plane, said reference point having an x value; 
 at least one motor configured to move said movable mount; 
 a haptic stimulation device connected to said head of said robotic mount so as to be movable by said robotic mount in three-dimensional space; 
 one or more sets of data stored in said memory, said one or more sets of data defining x position coordinates, y position coordinates and z position coordinates for said robotic mount relative to time, wherein a maximum value of said x position coordinates does not exceed said x value of said reference point; and 
 machine-readable code stored in said memory and configured to cause said controller to utilize one of said sets of data to generate control instructions to cause said one or more motors to move said movable mount in a motion defined by said set of data, resulting in movement of said haptic stimulation device in three-dimensional space, including movement thereof towards and away from said human body, wherein a maximum range of said movement of said haptic stimulation device in a direction corresponding to said x axis does not exceed said plane, and wherein, when said direction is generally parallel to a desired direction of linear movement, the robotic mount is configured to move so that the maximum travel of the haptic stimulation device in said direction does not exceed said reference point.